La recerca s'articula en dues línies amb els objectius que es detallen a continuació.

Percepció i Manipulació:
1. Enllaçar percepció i acció utilitzant mètodes geomètrics i estadístics per al modelatge de l'entorn i del propi robot, per a la planificació de tasques i moviments, i per a l'aprenentatge.
2. Aprofundir en l'aprenentatge per reforçament i en l'aprenentatge per demostració, en particular el "mestratge", com a base per a la interacció entre robots, humans i l'entorn.

Cinemàtica i Disseny de Robots:
3. Trobar mètodes generals i complets per a l'anàlisi i la planificació de moviments lliures de col·lisió de mecanismes.
4. Desenvolupar noves estructures mecàniques, preferentment robots paral·lels i robots basats en estructures "tensegrity".
5. Incrementar i millorar l'expertesa del grup en l'àrea del disseny mecànic


La investigación se articula en dos líneas con los objectivos que se detallan a continuación.

Percepción y Manipulación:
1. Enlazar percepción y acción utilitzando métodos geométricos y estadísticos para el modelado del entorno y del propio robot, para la planificación de tareas y movimientos, y para el aprendizaje.
2. Profundizar en el aprendizaje por refuerzo y en el aprendizaje por demostración, en particular el entrenamiento, como base para la interacción entre robots, humanos y el entorno.

Cinemática y Diseño de Robots:
3. Encontrar métodos generales y completos para análisis y planificación de movimientos libres de colisión.
4. Desarrollar nuevas estructuras mecánicas, preferentmente robots paralelos y robots "tensegrity".
5. Incrementar y mejorar la competencia del grupo en el área del diseño mecánico.


Research is organized in two lines with the following goals.

Perception and Manipulation:
1. Linking perception and action using geometric and statistic methods for modelling the environment and the robot, for task and motion planning, and for learning.
2. Deepening on reinforcement learning and in learning by demonstration, in particular "coaching", as a basis for the interaction of robots, humans and the environtment.

Kinematics and Robot Design:
3. Finding general and complete methods for the analysis of mechanisms and for planning collision-free motions.
4. Developing new mechanical structures, especially parallel robots and robots based on tensegrity structures.
5. Increasing and enhancing the expertise of the group in the area of mechanical design.


Research is organized in two lines with the following goals.

Perception and Manipulation:
1. Linking perception and action using geometric and statistic methods for modelling the environment and the robot, for task and motion planning, and for learning.
2. Deepening on reinforcement learning and in learning by demonstration, in particular "coaching", as a basis for the interaction of robots, humans and the environtment.

Kinematics and Robot Design:
3. Finding general and complete methods for the analysis of mechanisms and for planning collision-free motions.
4. Developing new mechanical structures, especially parallel robots and robots based on tensegrity structures.
5. Increasing and enhancing the expertise of the group in the area of mechanical design.

Recent Submissions

  • Textual visual semantic dataset for text spotting 

    Sabir, Ahmed; Moreno-Noguer, Francesc; Padró, Lluís (Institute of Electrical and Electronics Engineers (IEEE), 2020)
    Conference report
    Open Access
    Text Spotting in the wild consists of detecting and recognizing text appearing in images (e.g. signboards, traffic signals or brands in clothing or objects). This is a challenging problem due to the complexity of the context ...
  • Visual feedback for humans about robots' perception in collaborative environments 

    Gassó Loncan, Juan Cruz; Olivares Alarcos, Alberto; Alenyà Ribas, Guillem (2020-07-20)
    External research report
    Open Access
    During the last years, major advances on artificial intelligence have successfully allowed robots to perceive their environment, which not only includes static but also dynamic objects such as humans. Indeed, robotic ...
  • Zoom control to compensate camera translation within a robot egomotion estimation approach 

    Alenyà Ribas, Guillem; Torras, Carme (2007)
    Conference report
    Open Access
    Zoom control has not received the attention one would expect in view of how it enriches the competences of a vision system. The possibility of changing the size of object projections not only permits analysing objects at ...
  • Visually-guided robot navigation: from artificial to natural landmarks 

    Celaya Llover, Enric; Albarral Garcia, Jose Luis; Jimenez Schlegl, Pablo; Torras, Carme (2007)
    Conference report
    Open Access
    Landmark-based navigation in unknown unstructured environments is far from solved. The bottleneck nowadays seems to be the fast detection of reliable visual references in the image stream as the robot moves. In our research, ...
  • Natural landmark detection for visually-guided robot navigation 

    Celaya Llover, Enric; Albarral Garcia, Jose Luis; Jimenez Schlegl, Pablo; Torras, Carme (2007)
    Conference report
    Open Access
    The main difficulty to attain fully autonomous robot navigation outdoors is the fast detection of reliable visual references, and their subsequent characterization as landmarks for immediate and unambiguous recognition. ...
  • Outdoor landmark-view recognition based on bipartite-graph matching and logistic regression 

    Todt, Eduardo; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2007)
    Conference report
    Open Access
    This paper describes the extraction of visual landmarks from outdoor images for mobile robot applications. The concept of group of landmarks, called landmark-view, is introduced, aggregating the most relevant landmarks ...
  • Exploiting single-cycle symmetries in branch-and-prune algorithms 

    Ruiz de Angulo García, Vicente; Torras, Carme (2007)
    Conference report
    Open Access
    As a first attempt to exploit symmetries in continuous constraint problems, we focus on permutations of the variables consisting of one single cycle. We propose a procedure that takes advantage of these symmetries by ...
  • Understanding motion planning better: a comparative review of “Principles of robot motion: theory, algorithms, and implementations”, by H. Choset et al. 

    Jimenez Schlegl, Pablo (Elsevier, 2007)
    Article
    Open Access
    The textbook on Motion Planning “Principles of Robot Motion: Theory, Algorithms, and Implementations”, by H. Choset et al., MIT Press, appeared on June 2005, is reviewed and compared to other two textbooks on the same ...
  • Historia de la robótica: de Arquitas de Tarento al robot da Vinci (parte II) 

    Sanchez-Martín, Francisco M.; Jimenez Schlegl, Pablo; Millan Rodriguez, Felix; Salvador-Bayarri, Jose; Monllau Font, V.; Palou Redorta, Juan; Villavicencio Mavrich, Humberto (2007)
    Article
    Open Access
    Robotic surgery is a reality. In order to to understand how new robots work is interesting to know the history of ancient (see part i) and modern robotics. The desire to design automatic machines imitating humans continued ...
  • Cognitive system framework for brain-training exercise based on human-robot interactif 

    Andriella, Antonio; Torras, Carme; Alenyà Ribas, Guillem (2020-02-25)
    Article
    Restricted access - publisher's policy
    Every 3 seconds, someone develops dementia worldwide. Brain-training exercises, preferably involving also physical activity, have shown their potential to monitor and improve the brain function of people affected by Alzheimer ...
  • Human motion prediction via spatio-temporal inpainting 

    Hernández Ruiz, Alejandro José; Gall, Juergen; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2019)
    Conference report
    Open Access
    We propose a Generative Adversarial Network (GAN) to forecast 3D human motion given a sequence of past 3D skeleton poses. While recent GANs have shown promising results, they can only forecast plausible motion over relatively ...
  • Unsupervised image-to-video clothing transfer 

    Pumarola Peris, Albert; Goswami, Vedanuj; Vicente, Francisco; De La Torre, Fernando; Moreno-Noguer, Francesc (2019)
    Conference report
    Open Access
    We present a system to photo-realistically transfer the clothing of a person in a reference image into another person in an unconstrained image or video. Our architecture is based on a GAN equipped with a physical memory ...

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